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Modelling and controlling a bio-inspired flapping-wing micro aerial vehicle

The objective of this research is to verify the three degree of freedom capabilities of a bio-inspired quad flapping-wing micro aerial vehicle in simulation and in hardware. The simulation employs a nonlinear plant model and input-output feedback linearization controller to verify the three degree of freedom capabilities of the vehicle. The hardware is a carbon fiber test bench with four flapping wings and an embedded avionics system which is controlled via a PD linear controller. Verification of the three degree of freedom capabilities of the quad flapping-wing concept is achieved by analyzing the response of both the simulation and test bench to pitch, roll, and yaw attitude commands.

Identiferoai:union.ndltd.org:GATECH/oai:smartech.gatech.edu:1853/43577
Date17 January 2012
CreatorsSmith, David Everett
PublisherGeorgia Institute of Technology
Source SetsGeorgia Tech Electronic Thesis and Dissertation Archive
Detected LanguageEnglish
TypeThesis

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